bblog sample rate fix

rtlopez · Aug 2, 2023 · ee22bf6 · ee22bf6
1 parent 04bd9e2
commit ee22bf6
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/lib/Espfc/src/Blackbox.h b/lib/Espfc/src/Blackbox.h
@@ -266,7 +266,7 @@ class Blackbox
       if(_model.magActive()) enabledSensors |= SENSOR_MAG;
       if(_model.baroActive()) enabledSensors |= SENSOR_BARO;
 
-      gyro.sampleLooptime = 125; //_model.state.gyroTimer.interval;
+      gyro.sampleLooptime = _model.state.gyroTimer.interval;
       targetPidLooptime = _model.state.loopTimer.interval;
       activePidLoopDenom = _model.config.loopSync;
 

diff --git a/lib/Espfc/src/Sensor/GyroSensor.h b/lib/Espfc/src/Sensor/GyroSensor.h
@@ -189,7 +189,7 @@ class GyroSensor: public BaseSensor
                 _model.state.debug[0] = lrintf(_fft[i].peaks[0].freq);
                 _model.state.debug[1] = lrintf(_fft[i].peaks[1].freq);
                 _model.state.debug[2] = lrintf(_fft[i].peaks[2].freq);
-                _model.state.debug[3] = lrintf(degrees(_model.state.gyro[i]));
+                _model.state.debug[3] = lrintf(_fft[i].peaks[3].freq);
               }
             }
             if(dynamicFilterEnabled && dynamicFilterUpdate)
@@ -216,7 +216,7 @@ class GyroSensor: public BaseSensor
             if(dynamicFilterDebug)
             {
               _model.state.debug[i] = lrintf(freq);
-              if(i == _model.config.debugAxis) _model.state.debug[3] = lrintf(degrees(_model.state.gyro[i]));
+              if(i == _model.config.debugAxis) _model.state.debug[3] = lrintf(degrees(_model.state.gyroDynNotch[i]));
             }
             if(dynamicFilterEnabled && dynamicFilterUpdate)
             {